... system.^1.1

In the rest of this document, when we refer to ``Cricket'' without a version number, we mean v2. Any references to v1 or other versions will be made explicitly.

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... Motes.^1.2

However, the current version of the Cricket v2 embedded software (2.0) does not expose the full TinyOS API required to easily write such applications. That will change in future versions of the Cricket software.

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... cable.^2.1

We expect to have a listener with a compact flash interface in the future.

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... obstacles.^2.2

The radio range depends on the antenna and the kinds of obstacles between the two Crickets; its profile is complicated, non-isotropic, and asymmetric.

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... square).^3.1

When the beacons are all on the same circles, the resulting system of equations is degenerate and the listener will show up at a position on the imaginary plane!

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... values.^4.1

In the near future, the API might change so that a beacon is uniquely identified by the unique hardware identifier value .

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